I'm for now cuz programmatically setting them is fine. I have to set the minimumsize of the header first in the code as below:
this.navigationDrawer1.DrawerHeader.MinimumSize = new System.Drawing.Size(10, 10);
this.navigationDrawer1.DrawerHeader.Height = 35;
this.navigationDrawer1.DrawerHeader.BackColor = Color.DarkSeaGreen;
But any settings in the VS property window for drawerheader just don't work.